Towards terrain-aided navigation for underwater robotics

Authors: Williams, Stefan1; Dissanayake, Gamini1; Durrant-Whyte, Hugh1

Source: Advanced Robotics, Volume 15, Number 5, 2001 , pp. 533-549(17)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper describes an approach to autonomous navigation for an undersea vehicle that uses information from a scanning sonar to generate navigation estimates based on a simultaneous localization and mapping algorithm. Development of low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. An implementation of these techniques on a small submersible vehicle 'Oberon' are presented.

Keywords: TERRAIN-AIDED NAVIGATION; LOCALIZATION; MAPPING; UNCERTAINTY; AUTONOMOUS UNDERWATER VEHICLE

Document Type: Research article

DOI: 10.1163/156855301317033559

Affiliations: 1: Australian Centre for Field Robotics, Department of Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006, Australia

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